server.c

来自「第三届飞思卡尔智能车竞赛华东赛一等奖的程序」· C语言 代码 · 共 18 行

#include"server.h"

void Init_server(void)
{
   PWME    &=0xFC; // 关PWM01
   PWMCTL  |=0x10; // PWM10级联
   PWMCLK  |=0x03; // 选CLOCKSA=200k
   PWMPOL  |=0x03; // PWMchannel 01 output is high at the beginning of the period,
   PWMCAE  &=0xFC; // 左对齐
   PWMPER01 =2000; // 设定周期为2000 再结合上面就可得到100HZ的脉冲
   PWMDTY01 =angle_ref;    //给出舵机初始值，轮子正朝前的值
   PWME    |=0x03;
}

void rotate(int degree)  //range from -40 to 40
{
   PWMDTY01=angle_ref+7*degree/8;
}